Application Of Multi-Channel Hough Transform To Stereo Vision

Nasser M. Nasrabadi; Yi Liu

doi:10.1117/12.942774

19 February 1988 Application Of Multi-Channel Hough Transform To Stereo Vision

Nasser M. Nasrabadi, Yi Liu

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942774
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

A feature-based stereo vision technique is described in this paper where curve-segments are used as the feature primitives in the matching process. The local characteristics of the curve-segments are extracted by the Generalized Hough Transform (R-table) representation of the curve-segment. The left image and the right image are first filtered by using several Laplacian of a Gaussian operators (VG) of different widths. At each channel, the Generalized Hough Transform of each curve-segment in the left and the right image is evaluated. This is done by calculating the R-table representation of each curve-segment based upon the centroid of the curve-segment. The R-table, curve-length, and the average gradient of the curve are used as a local feature vector in representing the distinctive characteristics of the curve-segment. The feature vector of each curve-segment is used as a constraint to find an instance of the same curve-segment in the right image. The epipolar constraint on the centroids of the curve-segment is used to limit the searching space in the right image. A relational graph is formed from the left image by treating the centroids of the curve-segment as the nodes of the graph. The local features of the curve-segments are used to represent the local properties of the nodes, and the relationship between the nodes represents the structural properties of the object in the scene. A similar graph is also formed from the right image curve-segments. Sub-graph isomorphism is then formed between the two graphs by using the epipolar constraint on the centroids, the local properties of the nodes (node assignment), and the structural relationship (compatibility) between the nodes.

Citation Download Citation

Nasser M. Nasrabadi and Yi Liu "Application Of Multi-Channel Hough Transform To Stereo Vision", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942774

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